├── .gitignore ├── README.md ├── catkin_ws └── src │ ├── ardrone_joystick │ ├── CMakeLists.txt │ ├── include │ │ └── ardrone_joystick.h │ ├── package.xml │ └── src │ │ ├── ardrone_joystick.cpp │ │ └── main.cpp │ ├── dynamic_reconfig │ ├── CMakeLists.txt │ ├── cfg │ │ └── settings.cfg │ ├── package.xml │ ├── saved_params.yaml │ └── src │ │ └── dynamic_reconfig_node.cpp │ └── tum_simulator │ ├── README.md │ ├── cvg_sim_gazebo │ ├── CMakeLists.txt │ ├── Media │ │ └── models │ │ │ ├── 120m_landscape_smooth_tri.dae │ │ │ ├── 120m_landscape_smooth_tri.jpg │ │ │ ├── 120m_landscape_smooth_tri.stl │ │ │ ├── 3boxes_room.dae │ │ │ ├── Marker1.dae │ │ │ ├── Marker2.dae │ │ │ ├── coke_can.dae │ │ │ ├── coke_can.jpg │ │ │ ├── competition │ │ │ ├── end.dae │ │ │ ├── end.jpg │ │ │ ├── start.dae │ │ │ └── start.jpg │ │ │ ├── cube.dae │ │ │ ├── cvg_logo.dae │ │ │ ├── cylinder.dae │ │ │ ├── garching_kitchen.dae │ │ │ ├── garching_kitchen2.dae │ │ │ ├── grass_ground.dae │ │ │ ├── marker │ │ │ ├── alpha.dae │ │ │ ├── beta.dae │ │ │ ├── cent.dae │ │ │ ├── delta.dae │ │ │ ├── dollar.dae │ │ │ ├── epsilon.dae │ │ │ ├── eta.dae │ │ │ ├── iota.dae │ │ │ ├── kappa.dae │ │ │ ├── marker.dae │ │ │ ├── marker │ │ │ │ ├── Marker1.png │ │ │ │ ├── alpha.png │ │ │ │ ├── beta.png │ │ │ │ ├── cent.png │ │ │ │ ├── delta.png │ │ │ │ ├── dollar.png │ │ │ │ ├── epsilon.png │ │ │ │ ├── eta.png │ │ │ │ ├── iota.png │ │ │ │ ├── kappa.png │ │ │ │ ├── rail.png │ │ │ │ ├── theta.png │ │ │ │ ├── upsilon.png │ │ │ │ └── zeta.png │ │ │ ├── theta.dae │ │ │ ├── upsilon.dae │ │ │ └── zeta.dae │ │ │ ├── milk.dae │ │ │ ├── test.dae │ │ │ ├── textures │ │ │ ├── AmericanCherrySwatch5.jpg │ │ │ ├── Marker1.png │ │ │ ├── Marker2.png │ │ │ ├── Milk.tga │ │ │ ├── cube.png │ │ │ ├── cvg_logo.png │ │ │ ├── cylinder.png │ │ │ ├── garching_kitchen_texture (copy).jpg │ │ │ ├── garching_kitchen_texture.jpg │ │ │ ├── grass_texture.jpg │ │ │ ├── milkboxlayout.jpeg │ │ │ ├── wall-texture-surface.jpg │ │ │ └── wood-floorboards-texture.jpg │ │ │ ├── tum_kitchen.dae │ │ │ ├── usr │ │ │ └── stud │ │ │ │ └── huangho │ │ │ │ └── ros_workspace │ │ │ │ └── cvpr-ros-internal │ │ │ │ └── trunk │ │ │ │ └── cvg_simulator │ │ │ │ └── cvg_sim_gazebo │ │ │ │ └── Media │ │ │ │ └── models │ │ │ │ └── textures │ │ │ │ └── wood-floorboards-texture.jpg │ │ │ └── wood_floor.dae │ ├── launch │ │ ├── ardrone_testworld.launch │ │ ├── brick_wall.launch │ │ ├── empty_world.launch │ │ ├── land_station1.launch │ │ ├── land_station2.launch │ │ ├── outdoor_flight.launch │ │ ├── rolling_landscape_120m.launch │ │ ├── seong_world.launch │ │ ├── spawn_quadrotor.launch │ │ ├── spawn_quadrotor_2.launch │ │ ├── spawn_quadrotor_pi.launch │ │ └── test.launch │ ├── meshes │ │ ├── hokuyo_utm30lx │ │ │ ├── blender │ │ │ │ └── hokuyo_utm30lx.blend │ │ │ ├── hokuyo_utm_30lx.dae │ │ │ ├── hokuyo_utm_30lx.stl │ │ │ └── hokuyo_utm_30lxTEST_SELF_FILTER.dae │ │ ├── kinect_camera │ │ │ ├── kinect_camera_simple.dae │ │ │ └── kinect_camera_simple.stl │ │ ├── quadrotor │ │ │ ├── blender │ │ │ │ ├── quadrotor_2.blend │ │ │ │ ├── quadrotor_2.blend1 │ │ │ │ ├── quadrotor_3.blend1 │ │ │ │ ├── quadrotor_CAD.blend │ │ │ │ ├── quadrotor_CAD2.blend │ │ │ │ ├── quadrotor_CAD2.blend1 │ │ │ │ ├── quadrotor_CAD2.blend2 │ │ │ │ └── quadrotor_base.blend │ │ │ ├── quadrotor_2.dae │ │ │ ├── quadrotor_2.stl │ │ │ ├── quadrotor_3.dae │ │ │ ├── quadrotor_3.stl │ │ │ ├── quadrotor_4.dae │ │ │ ├── quadrotor_4.stl │ │ │ ├── quadrotor_base.dae │ │ │ └── quadrotor_base.stl │ │ ├── sonar_sensor │ │ │ ├── blender │ │ │ │ └── max_sonar_ez4.blend │ │ │ └── max_sonar_ez4.dae │ │ └── thermaleye_camera │ │ │ ├── thermaleye_camera_hector_v1.dae │ │ │ ├── thermaleye_camera_hector_v1.stl │ │ │ ├── thermaleye_camera_hector_v2.dae │ │ │ └── thermaleye_camera_hector_v2.stl │ ├── models │ │ ├── banner_alpha.model │ │ ├── banner_beta.model │ │ ├── banner_cent.model │ │ ├── banner_delta.model │ │ ├── banner_dollar.model │ │ ├── banner_epsilon.model │ │ ├── banner_eta.model │ │ ├── banner_iota.model │ │ ├── banner_kappa.model │ │ ├── banner_theta.model │ │ ├── banner_upsilon.model │ │ ├── banner_zeta.model │ │ ├── competition_end.model │ │ ├── competition_start.model │ │ ├── cvg_logo.model │ │ ├── cylinder.model │ │ ├── grass_ground.model │ │ ├── marker.model │ │ ├── marker_1.model │ │ ├── station_marker1.model │ │ ├── table.model │ │ └── wood_floor.model │ ├── objects │ │ ├── milk.urdf │ │ ├── station_marker1.model │ │ └── station_marker2.model │ ├── package.xml │ ├── seong_param.yaml │ ├── urdf │ │ ├── quadrotor.urdf.xacro │ │ ├── quadrotor_base.urdf.xacro │ │ ├── quadrotor_sensors.urdf.xacro │ │ └── sensors │ │ │ ├── generic_camera.urdf.xacro │ │ │ ├── hokuyo_utm30lx.urdf.xacro │ │ │ └── sonar_sensor.urdf.xacro │ ├── worlds │ │ ├── ardrone_testworld.world │ │ ├── brick_wall.world │ │ ├── brick_wall_cabinet.world │ │ ├── brick_wall_mud10.world │ │ ├── brick_wall_mud6.world │ │ └── seong.world │ └── worlds_backup │ │ ├── 3boxes_room.world │ │ ├── competition.world │ │ ├── empty.world │ │ ├── garching_kitchen.world │ │ ├── rolling_landscape_120m.world │ │ ├── tum_kitchen.world │ │ └── wg_collada.world │ ├── cvg_sim_gazebo_plugins │ ├── CMakeLists.txt │ ├── include │ │ ├── hector_gazebo_plugins │ │ │ ├── diffdrive_plugin_6w.h │ │ │ ├── gazebo_ros_gps.h │ │ │ ├── gazebo_ros_imu.h │ │ │ ├── gazebo_ros_magnetic.h │ │ │ ├── gazebo_ros_sonar.h │ │ │ ├── reset_plugin.h │ │ │ └── sensor_model.h │ │ ├── hector_quadrotor_controller │ │ │ ├── quadrotor_simple_controller.h │ │ │ └── quadrotor_state_controller.h │ │ └── hector_quadrotor_gazebo_plugins │ │ │ └── gazebo_ros_baro.h │ ├── package.xml │ ├── src │ │ ├── cvg_sim_gazebo_plugins │ │ │ └── __init__.py │ │ ├── diffdrive_plugin_6w.cpp │ │ ├── gazebo_ros_baro.cpp │ │ ├── gazebo_ros_gps.cpp │ │ ├── gazebo_ros_imu.cpp │ │ ├── gazebo_ros_magnetic.cpp │ │ ├── gazebo_ros_sonar.cpp │ │ ├── quadrotor_simple_controller.cpp │ │ ├── quadrotor_state_controller.cpp │ │ ├── reset_plugin.cpp │ │ └── test_trajectory.cpp │ ├── srv │ │ └── SetBias.srv │ └── urdf │ │ ├── quadrotor_plugins.urdf.xacro │ │ ├── quadrotor_sensors.urdf.xacro │ │ └── quadrotor_simple_controller.urdf.xacro │ ├── cvg_sim_msgs │ ├── CMakeLists.txt │ ├── include │ │ └── cvg_sim_msgs │ │ │ ├── ControlSource.h │ │ │ └── RC │ │ │ └── functions.h │ ├── msg │ │ ├── Altimeter.msg │ │ ├── Altitude.msg │ │ ├── AttitudeCommand.msg │ │ ├── Compass.msg │ │ ├── ControllerState.msg │ │ ├── HeadingCommand.msg │ │ ├── HeightCommand.msg │ │ ├── MotorCommand.msg │ │ ├── MotorPWM.msg │ │ ├── MotorStatus.msg │ │ ├── PositionXYCommand.msg │ │ ├── RC.msg │ │ ├── RawImu.msg │ │ ├── RawMagnetic.msg │ │ ├── RawRC.msg │ │ ├── RuddersCommand.msg │ │ ├── ServoCommand.msg │ │ ├── Supply.msg │ │ ├── ThrustCommand.msg │ │ ├── VelocityXYCommand.msg │ │ ├── VelocityZCommand.msg │ │ └── YawrateCommand.msg │ ├── package.xml │ └── src │ │ └── cvg_sim_msgs │ │ ├── __init__.py │ │ └── 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